公开(公告)号：US20170357272A1

公开(公告)日：2017-12-14

申请号：US15687588

申请日：2017-08-28

Applicant: Murata Manufacturing Co., Ltd.

Inventor： Shigeru TSUJI ,  Mitsuru KITAGAWA

IPC: G05D1/08 ,  G01P3/00 ,  G01C9/02 ,  G01P21/00 ,  H02K7/00

CPC classification number: G05D1/0891 ,  A63H11/00 ,  A63H33/005 ,  G01C9/02 ,  G01P3/00 ,  G01P21/00 ,  H02K7/003

Abstract: A ball-balancing robot is capable of accurately controlling its posture when a robot main body is rotated about the vertical axis in a yaw direction in a state in which the robot main body is positioned on a spherical object in a posture in which a gravity center of the robot main body matches a vertical axis passing a center of the spherical object, and in a state in which a base axis of the roll-direction angular velocity sensor is inclined with respect to the horizon in a pitch direction (at an inclination angle θP), the robot main body is able to rotate while maintaining a predetermined posture by making correction to cancel a detection error in the angular velocity in the roll direction generated based on the inclination of the base axis of the roll-direction angular velocity sensor.